diff options
Diffstat (limited to 'Kod/bilbana/yc4/main.m')
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 27 |
1 files changed, 16 insertions, 11 deletions
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 2d450b1..6612e4f 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -104,14 +104,15 @@ while 1 %% CALC POSITION (CAR 1) if car1.lap > 1 last_seg_times1 = car1.seg_times(car1.lap - 1, 1:9); - aprox_v = get_aprox_v(car1.segment, last_seg_times1); + aprox_v = get_aprox_v(car1.segment + detect_missed( car1.position, car1.segment, 1), car1.lap, car1.seg_times); car1.position = get_position(aprox_v, car1.position, t); if detect_missed( car1.position, car1.segment, 1) disp('Miss?'); - disp(toc(car1.miss_time)); - if car1.miss_time == 0 - car1.miss_time = tic; - end + + %disp(toc(car1.miss_time)); + %if car1.miss_time == 0 + % car1.miss_time = tic; + %end end end if car1.new_check_point == true @@ -123,14 +124,18 @@ while 1 car1.seg_tic = tic; if car1.lap > 2 % Säkerhetsmarginal (Bör vara 1?) disp(car1); - [car1.position, seg_plus] = ... - choose_position(car1.position,car1.segment, 1); - %car1.position = x(1); - car1.segment = car1.segment + seg_plus; - car1.miss_time = uint64(0); + [new_position, seg_plus] = ... + choose_position(car1.position, car1.segment, 1); + if seg_plus ~= 0 && car1.segment == 1 + disp('Hoppar över missad givare 1/2'); + else + car1.position = new_position; + car1.segment = car1.segment + seg_plus; + end + %car1.miss_time = uint64(0); else car1.position = car1.seg_len(car1.segment); - car1.miss_time = uint64(0); + %car1.miss_time = uint64(0); end end end |